Consensus of second-order multi-agent systems with nonsymmetric interconnection and heterogeneous delays

Abstract

In this paper, a consensus algorithm of multi-agent second-order dynamical systems with nonsymmetric interconnection and heterogeneous delays is studied. With the hypothesis of directed weighted topology graph with a globally reachable node, decentralized consensus condition is obtained by applying generalized Nyquist criterion. For the systems with both communication and input delays, it is shown that the consensus condition is dependent on input delays but independent of communication delays.

Second-order consensus in multi-agent systems based on second-order neighbours’ information

“…Hence, more attention has been paid to consensus problems for second-order multi-agent systems (Ren and Atkins 2007;Ren 2008;Yu, Chen, and Cao 2010;Yu, Zheng, Chen, Ren, and Cao 2011;Sun and Guan 2012;Wen, Duan, Yu, and Chen 2012;Xie and Wang 2012;Zhang, Chen, and Yu 2012). Due to the finite speeds of transmission and spreading as well as traffic congestions, second-order consensus with time delays in spreading and communication is also studied extensively (Tian and Liu 2009;Hu and Lin 2010;Liu and Jia 2010;Liu and Liu 2010;Qin, Gao, and Zheng 2011;Yang, Wang, and Zhang 2011;Wu and Fang 2012). So far, there is little work related to improve the convergence rate of second-order multiagent systems.…”